LV14907B - Fin vibrating actuator of water vehicle - Google Patents

Abstract

The invention relates to actuators of water vehicles and fish-like underwater robots. The offered fin vibrating actuator consists of a vertically mounted motor and fin. On the shaft of the motor rigidly is attached the horizontal lever to which rigidly is attached a compression spring whose other end is secured to the housing. On the bottom side of the is fixed magnet. The lever rotates by a specific angle to form the extreme positions of imaginary lines on the left and right, and the gercons are arranged to the housing on these lines. In the initial position the spring is decompressed. When voltage is applied, one of the gercons switches on the motor, and the lever from the starting left fielder position is rotated to the rightmost position, compressing the spring. In this position, the second gercon switches off the motor and reverses the lever to its starting position by spring force. Then the cycle begins again.

Description

DESCRIPTION OF THE INVENTION

The invention relates to the propulsion of watercraft and can be used in submarines and surface ships and underwater fish robots.

Analysis of prior art

There are known vibrator motors for fins [1], whose fins move away from the longitudinal axis at the same angles at the same positions at their extreme positions. The main disadvantage of such a vibrator is the complex power transmission crank-to-crank mechanism with many details, which leads to high energy losses, which reduces the efficiency of such a device.

The closest technical invention to the invention is a fin vibrator [2] consisting of an electric motor, a pulley, a scissor and a fin, which is adopted as a prototype of the invention. ) (1) in the housing and consists of an electric motor (2) on which the pulley (3) is driven. The vertebra tooth (4) enters the groove of the shank (5) and the shank is secured to the pivot shaft (6) of the fin (7). A top view of a fin vibrator is shown in Fig. Lb. The cup (5) is placed in a horizontal plane. The shaft of the motor (2) is mounted vertically and is parallel to the pivot shaft (6) of the fins (7). As the fin (7) rotates relative to the vertical axis, the water vehicle moves in water.

The disadvantage of the prototype is the existence of an intermediate (crank-to-pin mechanism) that serves to transfer power from the motor shaft to the fin and leads to constructive complexity and significant energy loss at the expense of friction in the gear unit components. This causes a reduction in the efficiency and speed of movement in the water, and does not allow the use of a resonance mode which is more advantageous in terms of energy loss.

Purpose and substance of the invention

The object of the invention is to implement power transmission from the motor shaft without intermediate crankshaft gear directly to the fin and to move the vibrator to resonance mode, which results in a significant reduction in energy loss and simplicity of construction. In addition, the speed of movement in the water increases and the efficiency increases.

The set goal is achieved by including additional elements in the unit - compression spring (energy accumulator), Hercules and magnet. The proposed water vehicle fins vibrator consists of a vertically mounted electric motor and fins. The horizontal arm of the lever is firmly fixed on the shaft of the motor with a compression spring firmly attached to it, the other end of which is firmly fixed on the housing. There is a magnet attached to the bottom of the lever. The lever is rotated at a certain angle to form conditional end position lines to the left and to the right, but there are herkons on these lines. At initial position the spring is relaxed. When the voltage is applied, one of the herkons starts the engine and the lever moves from the left extreme starting position to the extreme right by squeezing the spring. In this position, the second herkon shuts off the engine and the lever return to the starting position is realized by the force of the compressed spring. Then the cycle repeats again.

In order to explain the working principle of the proposed water vehicle's fins vibrator and justify its advantages over the prototype, the following graphic materials are included in the description:

- Fig. 1a, showing a diagram of a fin vibrator according to a prototype (side view), in which: 1 is a housing, 2 is an electric motor, 3 is a pulley, 4 is a tooth, 5 is a shaft, 7 is a fin :

- Fig. 1b, which shows a schematic of the fin vibrator according to the prototype (top view) and in which the symbols used are the same as Fig. 1a;

Fig. 2a is a schematic diagram of a fin vibrator according to the invention (side view), in which: 1 is a housing, 2 is an electric motor, 3 is a bracket, 4 is a shaft, 5 is a lever, 7 is a magnet , 9 are herkons, 10 are controls;

- Fig. 2b, showing a schematic of the fin vibrator according to the invention (top view) and having the same designations as Fig. 2a;

Fig. 2c shows a circuit diagram of a fin vibrator according to the invention, wherein Pi and P ₂ are relays, Gi and G ₂ are herkons, Mi is an electric motor, Pi, P ₂ and P ₃ are contact pairs;

Fig. 2d is a schematic showing the registration scheme of a fin moving vibrator according to the invention and Gi n G ₂ is a raccoon.

The water vehicle's fins vibrator, which is depicted in Fig. 2a. and Figures 2b and 2b consist of a housing (1), a vertically mounted electric motor (2), which is fixed to the housing (1) by means of a bracket (3). The shaft (4) of the motor (2) has a lever (5) firmly fixed at one end. It is firmly connected to the compression spring (6) at a distance Ri from the shaft (4). The other end of the spring (6) is mounted on the housing (1). At the other end of the lever (5), a vertical fin (7) is secured. The magnet (8) is located at the lower part of the lever (5) at a distance R ₂ from the shaft (4). In the extreme left and extreme right positions of the lever (5), at a distance R ₂ from the shaft (4) are placed the herkons (9) connected to the control unit (10).

When the vibrating actuator is operating (see Fig. 2d), the lever (7) moves away from the water vehicle body (1) at an angle α to the left and to the right, conditionally forming the end position lines OA and OB. For various tasks, the angle α is chosen based on the application conditions. In high speed fish-like robots, fin fluctuations occur at high frequencies but at low angles α. In fish-robotic meteorological observations and long-term flying mode, the tail oscillation frequency is lowered and the angle of return α is increased. The choice of angle α is not the subject of the invention.

The final state lines OA and OB distance R ₂ from the motor (2) shaft (4) is installed (see. 2d.zīm.) Reed Gi n G ₂ (9). The distance R ₂ is determined experimentally by the accuracy criterion for the operation of the herkons. R ₂ at low magnetic induction changes in speed may not be sufficient Reed intervention, but the increase in R _2; the rate of change in magnetic induction increases and vibration of elastic herkonic elements from a strong impact may occur.

In the extreme left starting position (see Fig. 2d), the spring (6) secured at a distance Ri from the shaft (4) is relaxed and, by applying voltage to the circuit (see Fig. 2c), the magnet (8) temporarily closes the ridge. Gi contacts. The distance Ri is determined experimentally on the basis that the product of the elastic force multiplied by the shoulder Ri gives the maximum value of the elastic restoring moment. This ensures accurate and safe return of the lever (5). The magnet (8) is paired with the herkons (9) and its parameters are not the subject of the invention.

The closed contacts of Hercule Gi turn on (see Fig. 2c) the relay Pi, which contacts Pi and P3. The supply voltage is supplied to the electric motor Mi by means of contacts P3, but the contacts Pi provide the voltage supply until the lever (5) turns at angle α and reaches its extreme right position by compressing the spring (6). At this point, the magnet (8) temporarily closes the G ₂ contacts of the horn, leading to relay P ₂ . In addition, normally closed contacts P ₂ are disconnected and the power supply to relay Pi is interrupted. At the same time, the power supply to the motor Mi is interrupted and the lever (5) returns to the left starting position under the force of the compressed springs (6) and the cycle is repeated.

Comparison of the characteristics of the prototype fin type vibrator (type 1) and the inventive device (type 2) was performed under the following conditions:

• uniformity of device size and shape;

• uniformity of the total masses of the devices being compared;

• electric drive j fabric uniformity;

• uniformity of the surface area of the fins.

The movement speed v and the efficiency coefficient η were calculated as efficiency parameters and calculated according to the following formula:

where: U is the supply voltage of the electric drive (V), I is the current consumption of the electric drive (A),

Tv'vc thrust (N), v is the speed of movement in water (m / s).

The obtained calculation results are shown in Table 1.

.table

Comparison of motion velocity v and efficiency η of a fin vibrator according to prototype (type 1) and invention (type 2)

Tips Voltage U (V) Power / (A) Traction power 7V (N) Speed V (m / s) Utilities coefficient ņ (%) 1 6th 0.45 0.19 0.32 2.25 2 6th 0.4 0.20 0.42 3.50

The analysis of the results shows that according to the invention (type 2) the velocity of motion of the fin vibrator is increased by 24%, while the efficiency is increased by 35% accordingly.

Sources of information:

1. Patent of the Republic of Latvia EN 14034 B, 2010

2. Patent of the Republic of Latvia LV 14054 B, 2010 (Prototype).

Claims (3)

1. The water vehicle's fin vibrator (Fig. 2b), comprising a vertically mounted electric motor (2) and a fin (8), characterized in that a lever (5) is firmly fixed to the shaft (4) of the electric motor (2). a compression spring (6) fixed to it at a distance Ri from the shaft (4), the other end of the spring (6) being firmly fixed on the housing (1). Device according to Claim 1, characterized in that a magnet (8) is mounted on the lower side of the lever (5) at a distance R2 from the shaft (4). Device according to Claim 1, characterized in that, at a distance R2 from the shaft (4) of the electric motor (2) to the housing (1), the gears G1 and G2 (9) whose longitudinal axes coincide are mounted. with lever positions (5) on the right and left of the OA and OB lines.